| | --- |
| | license: cdla-permissive-2.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - Robotics |
| | - Robot_manipulation |
| | --- |
| | |
| | # BusyBox Dataset |
| |
|
| | ## Description |
| | The BusyBox dataset is a collection of language-annotated demonstration trajectories for various tasks from the [BusyBox](https://microsoft.github.io/BusyBox/) benchmark, collected |
| | by teleoperating a bimanual |
| | [mobile Trossen Aloha](https://www.trossenrobotics.com/mobile-ai) robot. The dataset is in the [LeRobot](https://github.com/huggingface/lerobot) |
| | v2.1 format. It contains several hours of data for the following BusyBox tasks: |
| |
|
| | - [Setting sliders to specified positions](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/MoveSlider) |
| | - [Pulling out](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/PullWire) and [inserting](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/InsertWire) wires with audiojack-like connectors |
| | - [Rotating a knob to a specified position](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/TurnKnob) |
| | - [Flipping on/off switches](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/FlipSwitch) |
| | - [Reorienting the BusyBox](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/MoveBox) |
| | - [Pressing buttons of various colors](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/PushButton) |
| | - [Moving the robot's arms in a prescribed manner](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/Reposition) |
| |
|
| | The [consolidated version](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/consolidated_lerobot_v2.1) of the dataset contains all of the above. |
| |
|
| | Sample demonstrations of these tasks are shown in the following video: |
| |
|
| | <video src="https://microsoft.github.io/BusyBox/BusyBox_assets/bb_teleop.mp4" width="640" height="480" controls></video> |
| |
|
| |
|
| | **BusyBox project page**: [https://github.com/microsoft/BusyBox](https://github.com/microsoft/BusyBox) |
| |
|
| |
|
| | **Paper**: [see the project webpage](https://microsoft.github.io/BusyBox/) |
| |
|
| |
|
| | ## Uses |
| |
|
| | This dataset can be used for finetuning VLAs for the BusyBox tasks as well as in earlier VLA training stages for enhancing the VLA's general |
| | capabilities at controlling bimanual robots. |
| |
|
| |
|
| | ## Contacts |
| |
|
| | [Galen Mullins](mailto:galenmullins@microsoft.com), [Andrey Kolobov](mailto:akolobov@microsoft.com) |
| |
|
| | ## Citation |
| |
|
| | ``` |
| | @misc{busybox2025, |
| | title={Benchmarking Affordance Generalization with BusyBox}, |
| | author={Fortier, Dean and Adamson, Timothy and Hellebrekers, Tess and LaScala, Teresa and Ennin, Kofi and Murray, Michael and Kolobov, Andrey and Mullins, Galen}, |
| | booktitle={Eval&Deploy Workshop at CoRL-2025: Evaluation and Deployment Across the Robot Learning Lifecycle}, |
| | year={2025} |
| | } |
| | ``` |
